+ Controller : Itis elementof the ton init. iMlacaten of cneng ek Ce tie functions of time or not, S84 output are svstom which Intime ncariant system, foven though hes este, feven though heinputs and culpa ara fonction of tite butte Tarameters of system aro indepondeat aie ‘hich arenol varying with time andasosaeet a, le. 88 Continnons time tom 1m digerete time systems, 0m ‘variables are known only at cortaindisereveintarvals of time. They are not continuously dependent on the Um T Pig. 64 Dizorete time stem 6.1.1, OPENLOOP SYSTEM. In this gystem, output is dependent on input but controlling action or input i totally independent ‘of the output or changes in output ofthe system. co conated Sue Felsen inp oe Contoter = ours yea ae Inguy| parameters [Oxgpet Topas] FErameT8 loo Sesame func] > a) ecg oa? ftine fangtan o¢ |* Fina] Tine Tine atid stein invari Fem «+ Linear and Non-linear Systems Assystem is said to be linear, if superposition principle applies tot, Linear system must satisfies following two properties @ fiery) =fx)+foy Gi) flay=a- fx) + Continuous Time and Discrete Time Control Systems In continuous time control system, all system variables are functions of a continuous time variable ‘. 6.12. CLOSED LOOP SYSTEM. Inthis system, controlling action o Fig 85, Open lop stem Advantages. @ Simple to design and hence economical dé) Very much convenient when output is difficult to (itd Easy from maintenance point of view. (io) Generally these are not troubled with the problems of stability Disadvantages. (Inaccurate and unreliable. ) Can not sente environmental changes ‘To maintain quality and accuracy, recalibration of the contrullor is necessary time to time. +r input is somehow dependent-on the output or changes in output. ‘onrard oe rat fen * ec ah se 9 [roca wo|__ a Fessbeck ae as (406 Closed loop systemAdvantages : ways er Hg and i effect of nonlinear nes environmental changes. e nd width, ie, operating frequency zone f Disadvantages ; {Complicated and time consuming from desia error time 1) Due to feodback, aystom tres to correct the distortions. very high: ye such system is srview and hence costlier. gual pendeney to overcorrect ty is to time, Tend how bound inthe nye may cause osellations Wihou sen ‘Comparison of Open Toop and Closed loo? eon Ea tema = Zl [an Output measurement is not reqiced {or operation of system. eed back element is absent (io) | Brvor detector absent. io) | Ttisinaccurate and unreliable ci) | Highly sensitive tothe disturbances. (ei | Highly sensitive tothe environmental a a i eitn| Bandwidth is mal # te) | Generally are sable in nature | | Simpte to construct and cheap. Tat_ affects the Taput. | pengrsin output, affects the input. ————] Output measurement is necessary. eee | fg iar nen eee oct Peeve odo Sintnbances oo | Bandwidth is large. Stability is the major consideration while designing Complicated to design and hence costly. Reduced efifect of non-linearities. | G2) | High affected by non-linearities, 6.1.3. PRINCIPAL OF FEEDBACK, Feedback is a property of elosed loop system, Feedback permits the output to be compared with the input to the system, so that appropriate control action may be formed a some fianetion. ofthe output and input, Advantages and Disadvantages of feedback system. @ Increased accuracy (ii) Reduced sensitivity (iti) Reduced effects of non-linearities and distortion (ie) Increased bandwidth (©) Tendency towards oscillation or instability, Sowa pth ‘Seats —| oa a Cetra otra ees stone Fig. Block diagram of automatic closed-loop control system, ‘A basic control loop with negative feedback responds to reduce the error between command {input (desired output) and the controlled input, Controller (or a filter) is required to process the error signal such that the overall system satisfies certain critoria specifications. Some Characteristics (@ Reduction in effect of distortion signal G Reduction in steady state error (Transient response and frequency response performance Go) Sensitivity to parameter changes oni to parameter variations & vi orth mess of feedback in reducing the influence 1¢ Variations. ‘of system. eeProton 8G eee Secompared to that of open 23 Parenter eke petite hetllct ‘cil maya tat the open loop system is stable **enthrough | closed system is alow pass fitor, Ie frequency from deupto avertay ee vista ace teense tan Tinscosotoop Slam beea rt Howto ea sis imp! creased response peed, . Fett teedack ine te ceffoct of disturbances and noise signals in tee forward path of the feedback loop. ae ‘The use of feedback shifts the pos indaeduce time const bat nthe meas ‘de gain has reduced. me ‘This can bo futher expressed ‘The mume Tre gumerato and denominator can be facterised tel form of the transfer fation 9 ‘Transfer Punetion =" ‘where, K is system gain fanetion TR ba eh ant) et) sane) ty co Fe 1% ig 8 ) + Laplace oft) Ree) > Laplace of rie) fT) is transfer unetion oftho system, then Laplace transform of output (9) 9) ‘ 1) = “Taplace transform of input ‘Characteristic Equation ofa Transfer Function. Ttis equation obtained by equating denominstor of {to ero, whose rots are the poles i 4 2ranaferfenetion ot ‘tthe transfer faneton. oe om | om om + oy Telebg rb sada! tnt 20 om 62, PROPEICIIES OF TRANSFER FUNCTION. {The transfer funeton ofa systom is Laplace Fe ‘Tnsform ofits impulse response, ST MPU Fig.67 fora system with teanafor funtion PO) is an ‘Ripuibe and all nial values are zero, then So), _S: ‘output will be PCs). Ty) 7 1FG,G,H Ui). Thasystemtranaferfunction can be devermine’ Co) 4 Fors thesjtem iret auntion hy If 1G,GH11 >>1,then PS = Gy Thea B@ Gi oning values fer function jt is sean that if G, is made sulfciently Bi isthen given by rere he effect of disturbance canbe decreased Yo. Iyitedback. bifect of disturbance on (2s = Xm) Pe onse ofthe system under consieration yi oe oom era ciedin amen Rita tan ene CSompared to thatin open loop svete, ‘araiinaielopertarD Sted eration feedback somet ei The repenee Toop gain of foedback SPs asD= TRANSFER FUNCTION io) The stablity of time-invaient Linear system jo of Laplace transform of ‘can be determined from the characteristic Itis defined asthe ratig otto to Laplace can gion, The denominator of the system output (reponse) tt or diving funstion) eguation, jon get equal 0 22r0 1 the transform of input(et at all initial eondtions tiaracterstic equation, Consequently ifallthe under the assumption cnaks of the denominator have negative real are 2010. Fs pares, the system is stable. Transfer Function, (TF) = Qs)ro the epetom pos eine apt 208 z mare fanctian ean then be specified Fgura pce nein ae Er opodent oe fp err etapa ont elem Fane Power of the complex variable in wo th ofa tanafer fli deerminee retin tem 6.2. 2 POLES AND ZEROS OF TRANSFER: Béenox* NY Fats of Wnser Fantion ‘ Thevaies which make theta frei ete Rar nbsstane the denomlontar Siang Pe oft eae Sevmtcsosy enna pale he tan pc Zero of Teansfr Function “ovals stich mao te ‘Bergan timo ofthat transfer anton Shenley a ar called zr of the tranfer Pesan zeros may be reaor complex conjugates Dia aba open «Pr andsoe may leat the rg nope 45 RUCK DIAGRAM REPRESENTAETON Black diagram na pita graphical represent Fe eclck cont system) ven system. Tis & ‘Sn spl my representing even complicated ee ans ‘spine tees and et relationship existing teteen np and output ofthe system, through the cs 1, draw the block diagram of practeal system, each element of practical system is represented by a block, ach block (which is called fnetional blocs) explains rathematial operation on the input by the element to produce the corresponding output, The actual mnvthematial uncon ie indented hy iaenting corresponding transfer function ofthe element inside, the Block. oa or a closed lop systems, the function of comparing the different signals indicated by the summing port ramet om bh iain th etc ‘rposeisindicated by take point in block dlagransa Take off point, = Jie represented asa dot which signifies application of for fanetion 200 tora aed ores one input source to to or more Summing point, Itrepresents summation oft : entering in a system, (1 "00" more input signals een ee hr ttre summing oF diferenclPe PAM ‘Taking off point of signal s represen lock diagram of a Closed-L.00p systeq, a a oo He) Wehave Cis) = Gis) [Rle)—Cls) Hy oy Ga) Ti) = Re” Ta me Gis) psa) —- 2 ‘Multiple Input-Multiple Output Systen, ‘When multiple inputs are present in alinea iq = ~ each inputcan be treated independently tiene Complete outputof the system canbe obiinediyags position, i. output corresponding to each in are added together. etal Two input linear system Us) Gx) ws, Sie] ey Reduce series blocks (i) Reduce parallel blocks a Reduce minor feedback loops ceaecumming point to take fit tothe ight ag Bee tothe let and (© Rapeat steps) to (fo) til eanonial ft" cnn STEM e 1omeced canbe ay [Ranson ta hip ‘anal fein ct meh pe suk gs Tedprocalofhik behind cheng Pointistobe shitedinseries waa sienalsatthataummingpeint, Aa Beck of nate fata sac teblockteyond which summing pion stobeshiedin wre with all agele stthat summing point [aa Bak ofeanatr Fstan oqo the bck behind wih alec pts tobeshied nai wil eye sethattake off pie Add lok of tran faction el 1 pro-aloblock beyond which ako oftpolat a foheskafiod insonee mite Soak atbarats give — function ofa simplechsed opsyatem. “ara summing paint oom forthe shift as shown, [aa suman pin q ashi of take off pink,ey SENTATION PRESENT te “ oa in 09 sathosknonsc sno out nee hain Node incoming an¢ = ping branches is known as chain node. Forward Path A path from the inpot ta output ‘defined as forward path. + Tn forward path no nodes to be traced twice, or repeated Feedback Loop : A loop which orginates and terminates at the same node is known as feedback path Self Loop : A feedback loop consisting of only ‘one nodes called selfloop. i,t at x, is self loop, A selfloop cannot appear while defining a forward path or ieedbacl loop as node containing ft gots traced twice which is not allowed, Path Gain : The product of branch gains while s0ing through a forward path is known as path fain ©, path gain for pathy, ~ 51x, ht, 4, Dummy Node : outgoing branches Non Touching Loops : common and no eo 90 or more loopa, cnet branch in between the touching Toopat® Sh loops are called pans Sain The Product of al the ain, Haathes forming adoop i called logy 24 ot, eee les tetas iow Grant Rly ena erin {iy The signain tho ystem Now along hg and along the arrowheads associates yt pee ultiplied by the by & The gals gta 2tpliod by to ran, aah aren ane cigace when ittravelsaloag 0) Tho va of variable represented by 0 dMambraseram ofellthesgnas ee ca a ho ala of ible repent ty ny, alabl to all the branches aig Sa ‘The number of branches leaving a node 3, 3 at Ant the value of variable represent ica Mason's Gain Formula, The transmittance between an input mad nga ode isoverall transmittance. Between these wesc Mason's gain formula, which is applicable to thereat eas © ‘Transfer Function = 2T Ax a where K = umber of forward paths ‘Ty, = gain of K'* forward paths A = system determinant to be calculated as 4 =1~-[Sall individual feedback loop gains) Sng Gain product of all possitle combinations of two non-touchin# loops] soni, Gain product of all possible combination of three non touching loos) + Value of above by eliminating all lo? tains and associated products which ae ‘ouching the K° forward path. nput a ci Input signal sain determin mmathemat for Draw flow diagrar MATHEM: SYSTEMS ‘Mathomati characteriz Dynamic} If x, for represents Linear Sy ‘Amathem: describing only of ing (8) ax responses Ifcoeffici called constant, The di form For t analy trans mode Whe: theyou TENS ag Siemal Flow Graph fro em Joga sia low Rot POln procedne wert ke otek iatpicnot gna Doware reece siete tranafor function reaene ing the respective node oe Drawing SigMal Flow Gap Pea etsmesbranchin hd a signal is moultiplio by 3 pe cho output signal, anode transmits signal in all brang TRANS re a Dranchesteaving hay TRANSLATION MECHANICAL SYSTEM ne on Yarlons Blements of Machine of Translation. Jepresented by a single node," Point are Eaeieaent: ¢ Take off point precedes a summing poi eee Rpresented by two separate never ate at transmittance of unity between them, Yt? ® he process of analysing performance anc Fe a HO py FeO ‘tr pmining transfer finctonienetaigite en Gn) bork a ae (atoms by drawing block diagram is cation) PURE TIement: ‘Moiematical modelling of control system or sige He = coe signal Su Ei [ATHEMATICAL MODE} ma ® sary LS OF PHYSICAL. FW = Kix, x) = Ket) ‘Mathematical models of most physical system are j haracterized by differential equations. Dynamic Response. When a mathematical model of a physical system is (##i) Damper Element : solved for various input conditions, the resultant > (0) represents the dynamic response of the system. ee) —e uit) Linear System. oa + ‘mathematical model is linear if differential equations describing it has coefficients which are either function Fon fm, wpm fill) =f a) = (10) only of independent variable or are ' ‘constant. where f= oars ae 7 nd x,(t) are iny vi y,(t) are Consider a translational spring-mass-damaper system Ba (0 ood (0) ans aH ince mn eee aa games a os responses individually, then sys Girection, Then this force is distributed on all the three ay) + ayy) = 42 (0+ O20) ai ‘element of the mass-spring damper system, en itis Ifcoefficiont describing are function of time, th caled linear time varying system andi coeflicient are cmstan, then itis ealled linear time invariant + The differential equation deseribing a linces imvariont ayeter ean be reshaped into diferent form for the convenience of analysis. 3 * For transient response and frequen) ene analysisofsingle-input-single-output linear SET us oreo Fis applied on mass M (units ks) resis te transfer-funetion representation forms os sen ae eesti aoe Fer) and friction oellicient is f (Newton‘radisec), then and outputs, , an motion forthe system is obtained by applying Seo A econ venient. Seng aw of translation motion. 8 Given Block — Gy), ®FYotationad miechanical syste tion oF an 16 transm D tance ig Torque equation wilt be, sum of fallin 72g tiple inputs may be more cova eae ‘AL SYSTEM nonar108ar ERCHANTEALS a dyes) where, F.= torsional epring constant (9 Dampor Elements ne ae Ti) eft, 0) =fot) AO, ~ by) =f1600) sional damping constant Apply torque T() (in Nm), which is analogus to force in translation system. In place of mass, take moment of inertia J (in kg-m). Coefficient of viseous friction Temains same as belare, ie, f (in Navradiee) Ky called torsional constant, Similary equation for rotational mechanical aystem is ae) | dae) ae th ae + BA) where, Taking ‘ngular displacement in radians Laplace of above equation, we get 1s) = (ds! + fe +1) 0(6) “]) why 2) Baga ssk 8 TIME RESPONSE ANALYSIS op c SYSTEM My Renae annem Seuiinissin worse Detctiepnce (Byte ieicociesanndtiontorrcihy ee, Bore ae an los ye Seemaneeees rae ern ar ee a ie =a ae Seat a es Tee Fete ofan |oRepme aes} amtere [cme Sintewame | Gears Sa | ec taccaia| eae | Repunetocsicg, | Teast Pes ine ea] ingen 2. does aot depend oa perisee iia ing ign yet :R pend opal and] Thnarey ees taro ofa tem ani) reeds feat re ell Oem | lelramase | 65.1 Standard Test Inputs The signals which are most commonly wal w ‘nputare defined as standard testinpis (Step Input (Position Function) : qn Parabotich fe de) Impulsenisi eaualien fey rounded input Bounded ou erro heme oe seal ed tor any bounces tnpce ates souipub le input i or ees orale ed then a jp hwotste stability seen le abeaiay stable Re cree eye outed input ‘aratons inConditional stability ) tin system remains stable for apart | Wa orimnoter of any a¥iom, then ie i calek | Sonal stable pet is called | cobaeessy trees the stably ofany ystems ino Wht odtrayeen. Iie maly defined toe ffgnin mers, phasemargin and lean ctl | jins-plane. | Gq Aspmptotic stability Pe ee rel ees pease Tr asda a | [ote staiy [Rare ir | aT attaie “|ikiemmns | Te aeaeescbaiy | "sours! ; eta ah } ent com | a enue } deminer, | * Nate atts | west eae] eam a are | em, men ime Save trons aTISSoon a ERO kono order ae neg aoe ai fea obtain the gs aero re aso ie ‘Techniques to find ‘absolute stabilit Tehama il oie of poles in s-plane. > For the eystem to Pe characteristic ‘imaginary axis += Roots of the char negative real parts: «+ If oots lie on the imaginary called marginally sabe 8. TORWERZRTRRTEAT Si MURWITZ STATIC Hhrwierseterminant 2 snxis, then system Saneie lo once necessary and sofciont consi D,= lo,!>0, aft the (60.2: ROUTHTS STABILITY C3 ‘Tho Routh eriterion ia meted for determi The Routh eye sabi, fr eaters with 98 TH Sey characteristic equation o€the form Tycapeoe toes 70.7 o ‘Method of forming an array 2 eo oy CSS, esiiemecw. eceeeee ber=abs &pest 9 ly stove Complete ear with tamu Thon the examine eign change by king {i : ; Lage -” 60-3 i 5 ie 7 ool hen § Deventer tp csege wet? uals tim 1X66) py EAS ER = + 15, sig i positive, As there are tv sign changes, hence system is tunetable, ‘The numberof sign change is frst eolumn sequal to number of poles in right haf «plane @) All the element of a row in a Routh's array are zero, then terms of the next row cannot be determined and Routh's test fails. | oo buaae « | gue aan elo o o ple rw of eos bythe officer eet ae Fa thatthe system whose charac ten bow io sable ais + +10 =0 Solution: \ orm the Routh arrey Since there is no sign change in frst colums efi uth arrey, once system is stable. Example, How many roots of the cheracterss, equation Pirate De 4 2s! + Ses 15=0 lies in the left hal of the «plane. Solution: Applying Routh Hurwite riterion e 1 203 a 1 2 6 ? 8 “2 0 i eee | ~24e 144-15? | aU a0 2evid a ct oo ene inthe ft lun aboe oth ras sre 2sgn changon, Therefore 2 reats lie ins half ofthe plane :Pee, ets poles in thos-plane is drawn nhc af ‘of system is varied frome is | ireceteacake =. RELESTAND STA a For a general closed loop system, 1 }_Sractetisticequation so? “7*8™™ the ! 1+ G(s) Hig) =0 } Gia) Hie) = 1 | Acsoplaneiscomples, above equation canbe write Gia) He) = Angle condition Gla) He) =—1 40 gusting angles ofboth sides, we have ZG(8) His) = #(24 + 1) 180%, = 0,1,2 10 ‘Angle condition can be stated as, 206) esi value of’ 0,1 | ° Any point in s plane which satis ‘condition has to bo on the root locus of the ‘orresponding ayster, Magnitude condition : fmagnitudes ofboth sides ofthe oquation Ge) His) ‘Tare equated, then a magnitude condition obtained is 1G) His)! =| 140 |= 1 ‘Thus magnitude condition is n ofthe teristic [GOH penecgae = 2 Magnitude condition ean be used only when a point in plane is confirmed forts existonc on {he root lous by Une use of angle contion 6.7.2. RULES FOR CONSTRUCTION OF ROOTLOCUS. Rule 1. : ‘The root locus is always symmetrical about the | Teal agis, The rot of the characteristic equation ire either real or complex conjugates oF combination of bath. } Rule2, | Let G(s) H(s) = Open loop transfer fonction ofthe system, P= Number of open loop poles £ e t 7 = Number of open loop zeros. ght omar | Case 1. P Number of branches] Nomber of branehoe Jel to ber feu to te muber Sbentoop pees” Vapontoop2eros | NeP New ranches wil tart] Branches vil from each of the loc- |terminate at each ot ation of open tnp|the. fiito Tecaion of] pale, Ont of P num, Jopen lao 2s Bt | her of branches, zjof Zanmbers oe) umber etbranches [ens Y A art] il terminate at thal fen of to fe] ina omotoren 22%: open loo poe cations 2 ranches vil names of branches terminate to infinity. |, originate | from| faity, and wil apprach to Site Ruled ‘A pint on the real axis Hes om the root lous f the {Scinafiin mumiterof opm oop pss snd open oP eros onthe rel wa o tho right hand sige of as pont ised Rules. Inroot bens P-2 branches wil approach to init Thobransies which aresppronchingt infinity, 00 qhostraitiinenare called Aspmptotos ofthe root Tocus. Angles of asymptotes are given by Here P=7 = total number of asymptotes Rule5. i [All ne asymptotes intersect the real axis ata. common fein lon ascent denctodtyo,Theeoordnates {Teentroid ean be calculated as “Real pars of poles of Glas) __ Sifted pars of zeros of Gl) a P-L Centro is always real. It may be located on negative tr positive real axis, Ie may or may not be the part of the rot loess Rules. Breakaway Point : It isa point on the root locus ‘whore multiple roots of the characteristic equation ‘cecurs fora particular value of K {@ Uf taere are adjacently placed poles on the real ‘axis and section of real axis in between them is 3 partof the roat locus, then there exists minimum Snebreakaway point in between ajacently placed poles,< BE) one x. ate) Honce characteristic equation 1+) HG = age) Breaking points are the solution of the equation AG) Bia) —A'() Bis) 20 hore A's) and Bs) are derivatives of AG) and Be) eA Breaking points can leo be chained by 2 where, K = f(s) [obtained ftom characteristic eietin! A(s) BE) Rule, Intersection of root Iocus with imaginary axis: ® Consider caractorsicequatinn : 14 Gio) Hs)0, (i) Construct Routh array in terms of K, tt Determine Ke. (@o) Construct nailry equation A) = 0 by un feelicieat of row which isu showe te ae (©) Roots of aut are the point of imaginary ease Rules. Angle of Depart es eta A) m0 for = tnsectlone hares ann he et angle contebation at hs pal of all other open loop poles and zeros, tat (s) His) = -_._ ee salary @ Ca Step 9 Bash, poles eeie~ unde itr ere ery in Step 4 Angle of asymptote, 6, = fore, P= 4.andZ=0 Mer a t5r 195" 225", Step 5 The point of intersection of. 2 8 pe real axis: Gls Bore ear Stop 6 Breakaway point bs) 1+ Gta) H(s)=0 S484 56+ 800+ Keg t-2,-24265) -2-255 Sep 7 eo anche afret ae mers ppg if real axis and breaks away atan anita 180 _ 160 = +00 rama: ‘Step 8 :Angleof departure:Itisfined Angle by which com, infinity, Omen plex poles departs tomar, 4, = 180° — 4) From the root locus below, the angle made gets4, with point -2+ 4) the sum ofa ey = 0,40, 40, 1854904 45 270 odie a= 180" 4) Si 1, 180° 270-0 Similarly an is490°,” ms 90 1 of departure for point (-2~1)‘When reots cut the imaginaty axis, sk > K= 260 | Asi 266° + Ke +260 = 0 2-4 Jig or e=* Vip Hence complete root locus ean be drawn a ne > 6.78. EFFECT OF ADDITION OF OPEN LOOP POLES AND ZEROS. Effect of Addition of Open Loop Poles ® Root loeus~ shifts towards imaginary axis. i System stability relatively decreases. System becomes mors oscillatory in nature i) Range ofoperating values of for stability ofthe system decreases, (©) Improvemont in steady state accuracy 874, EFFECT OF ADDITION OF OPEN LOOP ZEROS (@, Rootlocus~shift to lft aay from imaginary axis (i) Relatively stability ofthe system inereases, System becomes less osillatory (Ge) Range of erating values of K for stability ofthe system increases. (©) Improvement in transient response 6s, ASICS OF FREQUENCY DOMATN ALALYSIS, The stead ‘where the aystem "There exists corelat an frequency demain. Si'ivequency of the input appt ion between time domain When & is betwaen 0.4 to 0.707, then frequency domain and time demain specification are ‘eamparable, Bandwidth FREQUENCY RESPONSE ANALYSIS. Considora Linearsystem with sinusofdal input, rit)=Aginot Under steady state condition, the system output ‘and the signals at all other points in the system are sinusoidal. The steady state output may be ‘written ae Ci)=Bsin(or +4) ‘The magnitude and phase relationship between sinusoidal input and the steady state output of a system is called frequoney response. In linear time invariant system, the frequency response is independent of the amplitude and phase ofthe input signal. Frequency response test ‘on a system or eoraponentis normally performed bby keoping the amplitude A fixed and determining Band fora suitable range of frequency Frequeney response is evaluated from the sinusoidal transfor function (s =) Frequency Response Analy: order System, Consider a second-order closed loop system, of Second, ee Cts) rer) RG) os +0,si y ie Sad i 0<% Se cheat ye % tent ring £0 <8. Wee | : : 1 Santa ese 0. ire Spree Tine a) Indicative often of sponse re (2 Henco M, and oe ines Tor 8 soc PN 06 OO #2 Bene Mma eens roa a gr a on tang 8 . mmo ony ibdatanronthe ben 4 oo 1 2 Tees ote | N ce oo oof! | Fe ane ol wi rial ¢ gs? —— af oP Bur endwidth eo en, overwhieh Mis equal oor greater than > isdetne | ashandwidth o, Be ® —— i any 4 [cay eno a Fig, Pots of Ven and §Voe 2 Wf 20-289 af -1=0 . 1. Resonance Frequeney (0,) 1 : ‘The frequency where M has peak value is called _, ae [Loe Brae ‘ resonant frequency ™ ti = oyna, rane + aaah vgs rs = fi-26? 6.8.1, BODEPLOT, or @,= 0, fina? INTRODUCTION 2 Resonance Peak (M,) Maximum value of the magnitude called resonant peak (M, and is given by ‘Itgives a graphical procedure for determining stability of a control system based on sinusoidal frequency response. It is an improvement of Nyquist analysis and has an advantage of being approximated by asymptotic straight lines, Stability can be judged by seeing the plot only, without any calculations. It covers a wide range of frequency, and gives relative stability of the system in terms of gain margin and phase margin, ‘The magnitude and phase angle of Ga) (ja) are plotted as a function of logarithmic scales, ‘of frequency w.MY is posse in TU plotted against logarithinie values cree eee ieplot consti oftizoplatsrin sheet Igorithmie values against lopatitnene gai os frequency called Magnitude pla, ett otae sei G Phase Angle Plot: Phase angle in desires against ‘hich nto be plotted against ope. (Rnd pas ange by wena ned Boece) al Par ore: force eteeeeee ont pactor 11 System guia eta valoe 20 og dB Sa epetet ee Rito plot wl bstraght in parallltoX 4 Mebitude plot for K > 118 lino parallel to Magnitude Pet et 0 log above, wile aoa atta eotance 20 log Kalor 0 dB ‘ference ine Fa oles or zeros a the origin a” rata cindlian20rlogo wheres orer ofa Sao his equation islssouilar t0 9 = mx, ie, 1 pole at ie. origin: auafbutes to the magnitude plot according the equation -20 rlog a, i.¢, according to the straight Tine of slope ‘~ 20’ rdB/decade. A The starting slope of the Bode plot for’ Pe ee Gis) His) gets decided by ‘number of poles or at origin present in G(s) H(s) + For low frequency range Magnitude in dB + For high frequency rangs, © >> Magnitude in dB = 20log oT dB Iisa stright ine of slope - 20 dB/decadeo ‘The frequency at which change of slope from 0 dB ton 20 dBidocade occurs x called Corner freaency. Corner frequency, ©, = 5 Factor 4: Quadratic Factors (Complex Conjugate poles) Gio) Hie) = Approximation: G Forlow frequency, © <0, aos es) Magnitnde in dB = 201og 1 = 04 (@ Forhigh frequency, o>, Bandwidth. ‘his defined as the range of frequencies over which the system will rexpond satisfactorily. Is also defined fas range of frequencies in which the magnitude espone is almost flat in nature. Cut-offFrequeney: eis the frequency at which the magnitude of the dosed Toop response in 3 dB down from its zero frequency value. Resonant Frequency (o,). Ttis the frequency at which resonant peak M, occurs in elosed loop frequency response. It is inversely proportional to the rise time Gain Cross over Frequency (,.). Itis the frequeney at which magmitude of G(jo) Hjo) is unity, ie. 1 Phase Cross over Frequency (o,.)- tis the frequency at which phase angle of G\ja) Hijo) is— 180°.Me control ptactor i simple 2070, Oe, = 1090 1 == = 0.001 147s) GALT = Cs 00016) mis product ofall of them = —hteX1 + 0.0018) O07 7=N1 + cons gan. NYQUIST PLOTS, D ain eth ‘rst the necessity of approximations emg delay interact results about both abnolute nat cnanee Ge) Ht absolute and | ities of the system, relative | polar Plot. ee ieee of 2 pled athena EATS ot various Sens ese ahs arate pao roroination of GIME Sar Ratsteee Seanad { Unit radius es “ +0, we have [GU@HL jo), = 2-270" Section Hs $= +J0-> ¢= ~J0 Starting point a + +0 2-270 or, tom Termination point 0 —»—0 » or 22 S180 Section = Mero image of ection L ‘ ‘Seton IV: Not required Step 5: Rationaising GG) Ge) Ge) Hy) x 2B Foon jo +1) GorijorGo=DGe+0 10j0 [3-07 +44] oa+e) 400? | 109 (8-07) Danton i 4 (D=o'd+a%, Fauating imaginary partto zero, we have 3-0) =0 290° Substituting in real part, we got Q=-10 Step 6 : Nyquist plot is lockviso rotation p (270°) = + 180" anticlockwise rotation Step 7 Net encirclement of -1 +0 is N ‘his matches with the stability criterion. Hen given system i stable in nature Note : This is the rare example of open loop unstable system behaves as stable closed loop system. 69, STATE VARIABLE ANALYSIS State, The state of dynamic system is defined as a tinimal set of variable such that knowledge of these variable at t = ¢. together with the Amowledge of inputs for t= 1, completely determines the behaviour of tite system for tt, State Variable, tmeseare the variables involved in determining thestate of dynamicsystem Xit),X(0).X(0. Xs tate on ate variables, Itis not neccessary that ate variables be physically moscaratle w observable quantities, sf ce State Vector. The state vector Xi) j state nial” XC isthe Vector sum of al the»» > Select the state varab 4] te MOrkO re Mearns Ts Xi-X40 id= x= 0) =Kie x0 10 Yate) and Y@= Xue ly), vy such a system, a standard state model equation, Fo rey be written as Kip = AKI) + Bul) wo Ye) = CX(e) + Duo) ey squation (sealed state equation and equation i Pn an Outpt eoation nals clot ae ie fonction (beensne no soution Is required fi. heonxnealled sytem matri Boon xmealled control matrix | input matrix Oop wmealedontput matric / observation matric Dp «mealled transmission matrix. | o Now Yoh a Ke =KeX ‘These above equati is not any involvement Case II: If pole and zero, both are £°C(s) +BCts) + B,069)= ‘Aste order of system i'n stato variables re allowed to be selected to form minimum set of No state equation becomes ox K(x %_0-x0 x X (0) eam bo obtained by act elected variables foto orginal mally substituting all aXie—-aXi0) ry =X) 4, (0+ b uO ‘Henge in general the state model Becomes x0 al x0) |° +) o| wo ensl|nio} el Wi) =CXU), where D =0 ions are only for pole, because there tof derivative of input. involved oy | sto RO)sk Now, 84=20)08 ZExw = K-00, suse) Te) = Hee aKs929) ‘The Rode plot is as shown in gure ROOTLOCUS mo G@=— ue Gd mo= SE 5: He=1 = EHO Gi) is) = Te6@) * i Gayest ‘The poles are at-2, 2/1. 411, Both the answers (2) and (@) are dential: The breakaway and breakin points on the root locus far hich loop transfer function is G(s)H (6) are obtained as a solution of equation. foonmnn G46) s+8)—(s2+ 86 +15) 90 5242004 48-53-89 4 15-0 = st4126493=0 2 ~1.78 and 4.27 112, In this option, locus start from poles and end on origin In (c) and (4) poles and zero are marked incorrect. Mi) [Produet of veetor drawn from the ‘oles of G(s) H(s) to the given pole) [Products of vectors drawn from the zeros of G(s) His) to the given pole) _ [2x68 «4469 _sgp 115. For K<0, the asymptotes have angles of 0°, 90°. 180° and 270°. In this case, the real axis portions: between and 0, between -1 and-3and between 4 and — are on the root locus. There is only one break-away point located at K=~2. Om rg, a. 11%, Draying root ocas of ho ven Open ay 93 Sooke Brtadie ¢ sa5 an, ” Koo 396. 9 From the rot locus i an be readily srg ram the rototcn ong towards nny tire sett tncionta ce von open-loop transfer function 118 Given opi four poles at = 0,-4,-2e raat” ee - an ‘The point at which aaymptetes met is ‘centroid and is given by ~~ come ren pars of pole — Eres pars my as ofpole = El pat fy f 4 =~ pumber of ples ~ number ofa 5 41 4 Honee eo-ordinates are (2, 0) 8. ss ope Esenbpsreofules = Zeal pars ctor =" pumber of poles — number ofzer x9 ee wi GO) = ear?) 8498425 4K =0 from Routh Hurwitz eriterion, we have ’ 2 * K e 6K6 ’ ‘At the point of Jo- crossing, 6-K=0 ‘The K= 6 point i given by, and 3(0)2+K=0 = on #8) “Hence o=+ Jj Ieintersects imaginary axis. Since only plot (a) intersect imaginary exis Pt is the reasonable choice. 122, Root-lous is drawn below.